无速度测量的微小型UUV鲁棒积分有限时间渐近跟踪控制  

Robust finite time prescribed performance asymptotic control of small UUV trajectory tracking without velocity measurement

作　　者：梁洪涛 李慧平[2] 喻俊志[3] LIANG Hong-tao;LI Hui-ping;YU Jun-zhi(School of Physics and Information Technology,Shaanxi Normal University,Xi’an 710119,China;School of Marine Science and Technology,Northwestern Polytechnical University,Xi’an 710072,China;College of Engineering,Peking University,Beijing 100871,China)

机构地区：[1]陕西师范大学物理学与信息技术学院,西安710119 [2]西北工业大学航海学院,西安710072 [3]北京大学工学院,北京100871

出　　处：《控制与决策》2025年第1期196-204,共9页Control and Decision

基　　金：国家自然科学基金项目(62203286);陕西自然科学基金项目(2022JM-312)。

摘　　要：针对具有模型不确定和海洋环境扰动的微小型无人水下航行器无速度测量轨迹跟踪控制问题,提出自适应鲁棒积分有限时间预设性能渐近控制方法.构造预置期望收敛时间的预设性能函数与误差转换函数,将跟踪误差由受限状态转化为非受限状态,其中期望的收敛时间可预先设置且不依赖误差初始状态.在此基础上结合状态扩张观测器和误差符号鲁棒积分控制,提出复合扰动快速补偿与连续抑制相耦合的状态输出反馈控制器,其中线性状态观测器用于快速补偿未知速度和复合扰动,而连续误差符号鲁棒积分控制则进一步抑制估计误差和避免抖振.该设计不仅能保证跟踪控制的瞬态和稳态性能,还可避免鲁棒积分控制需要精确已知扰动微分上界的保守假设以及对高控制增益的依赖.稳定性分析证明了闭环控制信号在有限时间内渐近收敛.仿真结果验证了所提出控制方法的有效性.To address the model uncertainties and external disturbances of small unmanned underwater vehicles(UUVs)with velocity-free in the trajectory tracking,a robust finite-time prescribed-performance asymptotic tracking control scheme is proposed.Firstly,a prescribed performance control is developed by constructing finite-time performance functions and error mapping functions,where the settling time can be chosen in advance and no longer depends on initial conditions.On this basis,combining the extended state observer(ESO)and robust integral of the sign of error(RISE),an output-feedback controller is proposed to robustness against with lumped disturbances,where the linear ESO is employed to quickly compensate the unknown velocity and lumped disturbances,and the continuous RISE term is designed to further suppress observed errors and avoid chattering.This design not only guarantees the transient and steady-state performance,but also avoids a conservative assumption on the requirement for the precise upper bound of differentials as well as the dependence on high control gains of the RISE.The stability analysis proves that all the closed-loop control signals asymptotically converge in finite time.Simulation results verify the effectiveness of the proposed control method.

关 键 词：无人水下航行器 跟踪控制 有限时间预设性能 误差符号鲁棒积分 扩展状态观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]